System, method, and computer software code for optimizing performance of a powered system

ABSTRACT

A system to optimize performance of a powered system, the system including a data device configured to provide current information about current operating conditions of the powered system and/or prior information about the powered system, a controller configured to control operation of the powered system, and a processor configured to provide at least one control command to the controller for use in operating the powered system and/or user information with at least one recommended command to a user to control the powered system, wherein the at least one control command and/or user information are based at least in part on the current information and/or the prior information. A system and computer software code, stored on a computer readable media and executable with a processor, are also disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/170,920, filed Feb. 3, 2014, which is a divisional of U.S. patentapplication Ser. No. 12/335,616, filed Dec. 16, 2008, now U.S. Pat. No.8,649,963 issued Feb. 11, 2014, which claims the benefit of U.S.Provisional Application No. 61/019,757 filed Jan. 8, 2008, all of whichare incorporated by reference herein in their entireties.

BACKGROUND

The subject matter described herein relates to vehicles and, moreparticularly, to control systems for optimizing performance ofoff-highway vehicles.

Off-highway vehicles (OHV) are used for a plurality of purposes, such asbut not limited to haul truck operations in an open pit surface mine.Such off-highway vehicles, including trolley-connected OHVs and otherlarge traction vehicles, are commonly powered by electric tractionmotors coupled in driving relationship to one or more axles ormotor-wheel sets of the vehicle. In the motoring or traction mode ofoperation, the traction motors are supplied with electric current from acontrollable source of electric power, e.g., an engine-driven tractionalternator/rectifier/inverter combination or, alternatively, a directcurrent drive source including a dc motor without an inverter. Thetraction motors apply torque to the vehicle wheels, which exerttangential force or tractive effort on the surface on which the vehicleis traveling (e.g., a haulage track or road), thereby propelling thevehicle in a desired direction along the right of way.

Conversely, in an electrical (i.e., dynamic) braking mode of operation,the same motors serve as axle-driven/wheel-driven electrical generators.Torque is applied to the motor shafts by their respectively associatedaxle-wheel sets, which then exert braking effort on the surface, therebyretarding or slowing the vehicle's progress. Because there is nosuitable storage medium for the resulting generated electrical energy ina conventional off-highway vehicle or trolley-connected OHV, anelectrically resistive grid (known as a dynamic braking grid or loadbox) is used to convert the electrical energy into heat energy, which isthen vented to the atmosphere.

In contrast, hybrid OHVs and hybrid trolley-connected OHVs have thecapability of storing the generated dynamic braking energy in a suitablestorage element(s), such as batteries, flywheels, ultra-capacitors, andthe like. This stored energy may then be used for traction and/orauxiliary systems in the OHV, thereby improving fuel efficiency.However, regardless of whether an OHV includes power storage elementsand/or energy dissipative elements, such components contribute to theoverall size and weight of the vehicle and thus to the costs of thevehicle. While an operator may be proficient with operating one OHVhaving a particular size and/or weight, the operator's proficiency mayvary OHV to OHV, where the size and/or weight may vary.

Because of differences in OHVs, such as those disclosed above, as wellas the skill level, experience, and/or desire of an operator, the costsof operating the OHV and achieving a specific production level may varygreatly. For example, various tests have shown that fuel burn alone canvary up to fifteen percent (15%) based on the operator alone.Considering the various physical configurations of the OHV, the fuelburn may vary further if the operator was to operate to different OHVsin a similar operating mode.

Owners and/or operators of off-highway vehicles, as well as owners oflocations where such vehicles are used, such as but not limited to openpit mines, would appreciate the financial benefits realized, such as,but not limited to, a lower cost per ton to the mine, a minimization ofburn rate, etc., when optimal OHV operation parameters are utilized,which may further maximize component life of individual components onthe OHV.

BRIEF DESCRIPTION

Embodiments described herein relate to a system, method, and a computerreadable media for optimizing performance of a powered system. Thesystem includes a data device configured to provide current informationabout current operating conditions of the powered system and/or priorinformation about the powered system. The system also includes acontroller configured to control operation of the powered system. Thesystem further includes a processor configured to provide at least onecontrol command to the controller for use in operating the poweredsystem and/or user information with at least one recommended command toa user to control the powered system, wherein the at least one controlcommand and/or user information are based at least in part on thecurrent information and/or the prior information.

The method includes determining a performance target for a poweredsystem. The method further includes comparing the performance target toan actual operating parameter of the powered system. The method alsoincludes modifying an actual performance of the powered system toachieve the performance target.

The computer software code is stored on a computer readable media and isexecutable with a processor. The computer software code includes acomputer software module for determining a performance target for thepowered system, when executed with the processor. The computer softwarecode further includes a computer software module for comparing theperformance target to an actual operating parameter of the poweredsystem, when executed with the processor. The computer software codealso includes a computer software module for modifying an actualperformance of the powered system to achieve the performance target,when executed with the processor.

BRIEF DESCRIPTION OF THE DRAWINGS

A more particular description of the subject matter briefly describedabove will be rendered by reference to specific embodiments thereof thatare illustrated in the appended drawings. Understanding that thesedrawings depict only typical embodiments of the invention and are nottherefore to be considered to be limiting of its scope, exampleembodiments of the invention will be described and explained withadditional specificity and detail through the use of the accompanyingdrawings in which:

FIG. 1 depicts a flowchart illustrating one embodiment of a method foroptimizing operation of an off-highway vehicle;

FIG. 2 depicts a block diagram illustrating one embodiment of vehiclesobtaining information from each other;

FIG. 3 depicts a block diagram illustrating one embodiment of elementsused in optimizing operation of a vehicle;

FIG. 4 depicts a block diagram illustrating one embodiment of aclosed-loop system for optimizing operation of a vehicle; and

FIG. 5 depicts one embodiment of an interface within a vehicle.

DETAILED DESCRIPTION

Reference will now be made in detail to the embodiments consistent withthe invention, examples of which are illustrated in the accompanyingdrawings. Wherever possible, the same reference numerals used throughoutthe drawings refer to the same or like parts.

Though example embodiments of the present invention are described withrespect to off-highway vehicles, embodiments of the invention are alsoapplicable for other uses, such as but not limited to agriculturalvehicles, transportation vehicles, stationary power plants, and/ormarine vessels, each which may use at least one diesel engine, or dieselinternal combustion engine. Towards this end, when discussing aspecified mission, this includes a task or requirement to be performedby the diesel powered system. Therefore, with respect to marine vesselapplications, this may refer to the movement of the system from apresent location to a destination. In the case of stationaryapplications, such as but not limited to a stationary power generatingstation or network of power generating stations, a specified mission mayrefer to an amount of wattage (e.g., MW/hr) or other parameter orrequirement to be satisfied by the diesel powered system. Likewise,operating conditions of the diesel-fueled power generating station mayinclude one or more of speed, load, fueling value, timing, etc.

In one embodiment involving marine vessels, a plurality of tugs may beoperating together where all are moving the same larger vessel, whereeach tug is linked in time to accomplish the mission of moving thelarger vessel. In another exemplary embodiment, a single marine vesselmay have a plurality of engines. Off-highway vehicles (OHV) may involvea fleet of vehicles that have a same mission to move earth, fromlocation “A” to location “B,” where each OHV is linked in time toaccomplish the mission. With respect to a stationary power generatingstation, a plurality of stations may be grouped together forcollectively generating power for a specific location and/or purpose. Inanother exemplary embodiment, a single station is provided, but with aplurality of generators making up the single station. In one embodimentinvolving marine vessels, a plurality of diesel powered systems may beoperating together where all are moving the same larger load, where eachsystem is linked in time to accomplish the mission of moving the largerload.

Furthermore, although the powered vehicles and other powered systemsdisclosed herein are usually diesel powered systems, embodiments of theinvention may also be utilized with non-diesel powered systems, such as,but not limited to, natural gas powered systems, bio-diesel poweredsystems, etc. Additionally, such non-diesel powered systems, as well asdiesel powered systems, may include multiple engines, other types ofpower sources, and/or additional power sources, such as, but not limitedto, battery sources, voltage sources (such as but not limited tocapacitors), chemical sources, pressure based sources (such as but notlimited to spring and/or hydraulic expansion), electrical currentsources (such as but not limited to inductors), inertial sources (suchas but not limited to flywheel devices), gravitational-based powersources, and/or thermal-based power sources. Additionally, the powersource may be external, such as, but not limited to, an electricallypowered system, where power is sourced externally from overhead catenarywire, third rail, and/or magnetic levitation coils.

Some embodiments of the invention solve the problems in the art byproviding a system, method, and computer implemented method, such as acomputer software code, for optimizing performance of a powered system,such as but not limited to an off-highway vehicle. Persons skilled inthe art will recognize that an apparatus, such as a data processingsystem, including a CPU, memory, I/O, program storage, a connecting bus,and other appropriate components, could be programmed or otherwisedesigned to facilitate the practice of the method of the inventivesubject matter. Such a system would include appropriate program meansfor executing the method of the inventive subject matter.

Also, an article of manufacture, such as a pre-recorded disk or othersimilar computer program product, for use with a data processing system,could include a storage medium and program means recorded thereon fordirecting the data processing system to facilitate the practice of themethod of the invention. Such apparatus and articles of manufacture alsofall within the spirit and scope of the inventive subject matter.

Broadly speaking, at least one technical effect is to optimizeperformance of a powered system. To facilitate an understanding of theexample embodiments of the inventive subject matter, it is describedhereinafter with reference to specific implementations thereof. Exampleembodiments of the invention may be described in the general context ofcomputer-executable instructions, such as program modules, beingexecuted by any device, such as but not limited to a computer, designedto accept data, perform prescribed mathematical and/or logicaloperations usually at high speed, where results of such operations mayor may not be displayed. Generally, program modules include routines,programs, objects, components, data structures, etc. that performsparticular tasks or implement particular abstract data types. Forexample, the software programs that underlie exemplary embodiments ofthe invention can be coded in different programming languages, for usewith different devices, or platforms. In the description that follows,examples of the invention may be described in the context of a webportal that employs a web browser. It will be appreciated, however, thatthe principles that underlie some embodiments of the invention can beimplemented with other types of computer software technologies as well.

Moreover, example embodiments of the invention may be practiced withother computer system configurations, including hand-held devices,multiprocessor systems, microprocessor-based or programmable consumerelectronics, minicomputers, mainframe computers, and the like. Exampleembodiments of the invention may also be practiced in distributedcomputing environments where tasks are performed by remote processingdevices that are linked through a communications network. In adistributed computing environment, program modules may be located inboth local and remote computer storage media including memory storagedevices. These local and remote computing environments may be containedentirely within the powered system, or an adjacent powered system in aconsist, or off-board in a wayside device or central offices wherewireless communication is used.

In this document the term “OHV consist” or “off-highway vehicle consist”is used. As used herein, an OHV consist may be described as having oneor more OHVs operating with a trolley in succession, connected togetherso as to provide motoring capability. Specifically, there can be a leadconsist and more than one remote consists. Each OHV consist may have afirst OHV and a trail OHV(s), or a trolley at the lead. Furthermore, theterm “consist” should be not be considered a limiting factor whendiscussing multiple OHVs connected together. An OHV consist may relateto a plurality of OHVs operating together where certain physical spacingis expected between each OHV in view of a first location when minedmaterial is placed on each OHV and a second location where the minedmaterial is removed from each OHV.

As disclosed herein, a consist may also be applicable when referring toother diesel powered systems such as, but not limited to, agriculturalvehicles, transportation vehicles, stationary power plants, and/ormarine propulsion vessels, that operate together so as to providemotoring, power generation, and/or braking capability. Therefore, eventhough “OHV consist” is used herein, this term may also apply to otherdiesel powered systems. Similarly, sub-consists may exist. For example,the diesel powered system may have more than one diesel-fueled powergenerating unit. For example, a power plant may have more than onediesel electric power unit, where optimization may be at the sub-consistlevel. Likewise, an OHV may have more than one diesel power unit.

Referring now to the drawings, embodiments of the present invention willbe described. Example embodiments of the invention can be implemented innumerous ways, including as a system (including a computer processingsystem), a method (including a computerized method), an apparatus, acomputer readable medium, a computer program product, a graphical userinterface, including a web portal, or a data structure tangibly fixed ina computer readable memory. Several embodiments of the invention arediscussed below.

FIG. 1 depicts a flowchart illustrating one embodiment of a method foroptimizing operation of a vehicle. A performance target for the OHV isdetermined, at 10, in the flowchart 5. The performance target may bebased on a wait time at a station, typically referred to as “time atdump and shovel.” The wait time may be a delay time between at least twofunctions performed by the powered system. A station may include alocation where mined material is loaded, or shoveled, onto the OHVand/or a location where the mined material is removed, or dumped, fromthe OHV. The productivity rate of the OHV may also be considered, e.g.,cycles per hour and/or tons hauled per hour. Although dumping andshoveling is disclosed, with respect to other powered systems disclosedherein, dumping and shoveling may be identified as functions beingperformed by the powered system.

The performance target may further be determined by operating behaviorand/or statistics, or statistical information, of the OHV. For example,a propel-braking duty cycle and/or a braking time may be compared tohistorical data regarding these factors. In another embodiment, aperformance target may be determined by a physical position of the OHVin comparison to other OHVs. The distance may be determined by, e.g., adispatch system, a wayside marker to vehicle measurement, and/or adirect OHV to OHV measurement. The minimum distance to a next OHV, timeto the next OHV, and/or OHV spacing on haul route can be controlled.Equally spacing at least two OHVs on haul cycles has the potential ofreducing accident risk. This is especially important in mines that havesections of roads that only support a single lane of traffic. Though theterm “haul cycle” is discussed herein specific to OHV operations, thisterm may also relate to a cycle specific to the other powered systemsdisclosed herein. For example, the haul cycle may relate to a segment ofa mission or the time the powered system leave and then returns to aspecific location, where it may leave the specific location to transportmaterial and/or living entities.

The performance target may further be determined by environmentalconditions. Environmental conditions may include weather conditions,such as but not limited to fog conditions, precipitation conditions, andwhether a surface the OHV travels on is slippery (e.g., wheel tractionis deemed to be below a designated level). Additionally OHV operatingconditions, such as but not limited to degraded operating modes, mayalso be considered. The degraded operating modes may include both OHVdegraded operating modes, such as but not limited to an overheatedengine, and degraded environmental conditions, such as but not limitedto a degraded road traversed by the OHV between at least two stations.

A comparison of the performance target of the OHV to an actual operatingparameter of the OHV is performed, at 12. If there is a differencebetween the performance target and the operating parameter, amodification is made to the actual performance of the OHV to achieve theperformance target of the OHV, at 14. This may be accomplished byadjusting horsepower by either limiting the maximum horsepower producedand/or scaling back the horsepower produced by a gradual percentageuntil the target performance is met. If the horsepower is too low, itmay be boosted. The horsepower may also be boosted to meet theperformance target when environmental conditions are not ideal. Forexample, the horsepower of the OHV may be boosted to traverse a softspot on the ground on which the OHV is traveling so that momentum is notlost.

Modifying performance may also be accomplished by reducing the speed ofthe OHV, such as but not limited to limiting maximum speed and/orreducing OHV speed over an entire haul cycle. A dynamic OHV speed limitmay be compared to a position of the OHV in the haul cycle. For example,when controlled by an operator, the horsepower and OHV speed may becontrolled by informing the operator of a target speed and allowing theoperator to keep full control of the vehicle. When horsepower and speedare controlled by an autonomous controller, as illustrated in FIG. 3,the autonomous controller commands the operation of the OHV.

In another embodiment, the modification to the OHV performance isaccomplished based on learning a haul cycle of the OHV. Morespecifically, information about a prior haul cycle is gathered, oraccessed, and a determination about at least one parameter for a new orcurrent haul cycle is made based on the prior haul cycle, at 16.Subsequently, the OHV is controlled during the new, current, or asubsequent haul cycle based in part on the parameter. The haul cycle maybe learned based on operational history, such as, but not limited to,averaged or weighted data based on past haul cycles. Using thisinformation may allow for a slow change of route. In another example,the haul cycle may be indexed against time and/or position. Positionand/or time may be integrated from speed based from hard points ofshovel and dump. Additionally the difference between a left wheel on theOHV and a right wheel on the OHV may be used to estimate curvature ofthe road which can be used to identify a haul profile, which may be usedto further optimize the performance of the OHV. Other information thatmay be used to learn the haul cycle may include stop points and/or fixedwayside points, changes in surface grade and how the OHV performs whenthe grade is changed, utilization of GPS coordinates, etc.

The haul cycle may also be defined based on a deviation from historicalcycle information. For example, multiple stored cycle information may beselected based on correlation to present operations. The current haulcycle may be selected from a set of possible cycles based on operatorand/or dispatch system input.

The flowchart 5 may be implemented with a computer software code that isstorable on computer media and is operable with a processor 20,disclosed in detail below, where particular elements in the flowchart 5are implemented with computer software modules. More specifically, thecomputer software code includes a computer software module fordetermining a performance target for the powered system, when executedwith the processor. Also included is a computer software module forcomparing the performance target to an actual operating parameter of thepowered system, when executed with the processor. A computer softwaremodule is also included for modifying an actual performance of thepowered system to achieve the performance target, when executed with theprocessor. The computer software code also includes a computer softwaremodule for gathering information about at least one function of thepowered system and determining at least one parameter for a newperformance of the at least one function based on a prior performance ofthe at least one function, when executed with the processor. Withrespect to an OHV, the at least one function may be associated with ahaul cycle.

By using one or more of the embodiments disclosed above, improvedperformance of a fleet of powered systems may be realized. For example,with respect to a fleet of OHVs at a mine site, reduced fuel burned,minimizing collisions, etc., may be improved. Such improvements arefurther possible by using information or feedback from other poweredsystems in the same vicinity. The type of feedback is not limited, butit may include performance information from the other OHVs working thesame mine. As illustrated in FIG. 2, the performance target may be basedon information obtained from the other powered system in the samevicinity. For example, if two OHVs are following each other, aperformance target from the lead OHV 17 is communicated, wirelessly, tothe trailing OHV 18. In other exemplary embodiment, if a wayside device19 is passed on a route, the lead OHV 17 may provide the performancetarget to the wayside device 19, which in turn transmits the informationto the trailing OHV 18 when the trailing OHV 18 is within communicationrange of the wayside device 19. To facilitate this operation, acommunication device 27 is on each OHV 17, 18, and/or the wayside device19. Those skilled in the art will readily recognize that more than twopowered systems may be utilized to provide the performance target for aspecific powered system.

FIG. 3 depicts a block diagram illustrating one embodiment of a systemused in optimizing operations of a vehicle. The system includes aprocessor 20. Software 25 (computer-readable instructions) is operablewith the processor. The processor 20 and software 25 may be used todetermine a performance target for the OHV. Data and/or information areprovided to the processor, and hence to the software 25, through a datadevice 21. The data device 21 may include a plurality of devices suchas, but not limited to, sensors located on the OHV, the mine dispatchsystem, and/or a database that retains historical operating information.The processor 20 and software 25 may also be used to compare theperformance target for the OHV to an actual operating parameter of theOHV, and to modify the actual performance of the OHV to achieve theperformance target for the OHV. In one embodiment, the results realizedfrom modifying the actual performance to achieve the performance targetis communicated to the operator by way of an interface 22, or display,as disclosed below with respect to FIG. 5. In another embodiment, theresults are provided to an autonomous controller 24, as disclosed above,which in turn provides command signals to controls 26 the OHV 17. Morespecifically, when the computer-readable instructions in the software 25are executed by the processor 20, the processor 20 is able to providecommands to the controller 24 to use in operating the off-highwayvehicle and/or commands to an operator aboard the off-highway vehiclethrough the interface 22.

Example embodiments of the invention may influence performance and/orspeed, such as but not limited to boost, limit or provide target speedto minimize fuel burn and operating cost while maximizing componentlife. This may be as simple as dynamically lowering horsepower if waittime at either end of the haul, shovel, or dump, exceed a target. Asdisclosed above, it may be as complex as controlling spacing of the OHVsor defining a specific target speed profile for the entire haul cycle tominimize energy use. Example embodiments of the invention are flexibleso that many different inputs may be utilized. Example inputs includesimple operation history available locally to the propulsion controller,interaction with a mine dispatch system, and/or autonomous OHVcontroller information. Example embodiments of the invention may eitheractively control the speed and/or horsepower of the OHV, and/orinfluence a driver's operation with target speed annunciation. Towardsthis end, an example embodiment of the invention may be used touniformly space a plurality of OHVs and/or ultimately control a rate ofmine output.

FIG. 4 depicts one embodiment of a closed-loop system for optimizingoperation of a vehicle. As disclosed, information from the data device21 is collected from an OHV 17 and is provided to the processor 20,which in turn provides the information to the software 25. When a newoperation setting is determined, it is provided to the controller 24. Ifthe controller 24 is configured to operate the OHV 17, the controller 24will implement the new operation setting. If the controller 24 is notconfigured to operate the OHV 17, the new operation setting is providedto an operator such as, but not limited to, through the interface 22. Adecision gate 23 is shown to identify where this decision is made. Theoperator can use the interface 22 to provide commands to the OHV 17.When the controller is operating the OHV 17, the OHV 17 and/or thecontroller 24 can provide information about the operation settings tothe operator through the interface 22. Though FIG. 4 depicts anembodiment of a closed-loop configuration, other closed-loopconfigurations are possible.

FIG. 5 depicts an embodiment of an interface within a vehicle. Theflowchart 5 disclosed in FIG. 1 may be implemented either autonomously,more specifically with little to no operator interface, and/or withoperator interface where the method disclosed above is used to providerecommendations to the operator. Where recommendations are provided tothe operator, an interface 22 is provided to the operator. In oneembodiment, the interface 22 provides the operator with information,through visual indicators, about at least one of speed at a first visualindicator 32 (actual and/or target speed), future speed targets at asecond visual indicator 33, and/or acceleration/decelerationrequirements at a third visual indicator 34.

Since operators of OHVs, such as but not limited to mine truck drivers,must concentrate on the road and the surrounding environment, minimumvisualization of the interface is preferred. Towards this end,information may be communicated to the operator through visualindicators 32, 33, 34 as well as audile indicators 35. For example,visual information may include a target speed compared with actual speed(including speed targets) in a form of a digital display and/or graph,such as but not limited to a line graph versus time. Additionally,acceleration requirements to achieve the target speed may be displayedin the form of arrows of various lengths. In another embodiment,acceleration/deceleration requirements may be presented audibly in theform of beeps that increase in frequency as the operator deviates fromthe target speed. Information provided audibly may occur throughspeakers 35 and/or through a speaker headset worn by the operator. Thespeaker headset may be wired and/or wireless.

In another embodiment, information may be communicated through aphysical touch. For example, instead of acceleration/decelerationrequirements being presented audibly, an electrical current applied to askin area of the operator may be used. An attachment 36 is provided forconnection to the operator. In an embodiment, the electrical currentapplied to the skin area may only be used when deceleration requirementsmust be communicated but only when the audible indicators are ignoredand where failure to decelerate may result in a dangerous operatingcondition. Other options include providing tactile feedback throughoperator controls.

While the inventive subject matter has been described herein withreference to various embodiments, it will be understood by those ofordinary skill in the art that various changes, omissions and/oradditions may be made and equivalents may be substituted for elementsthereof without departing from the spirit and scope of the inventivesubject matter. Additionally, many modifications may be made to adapt aparticular situation or material to the teachings of the inventivesubject matter without departing from the scope thereof. Therefore, itis intended that the inventive subject matter not be limited to theparticular embodiment disclosed as the best mode contemplated forcarrying out this inventive subject matter, but that the inventivesubject matter will include all embodiments falling within the scope ofthe appended claims. Moreover, unless specifically stated any use of theterms first, second, etc., do not denote any order or importance, butrather the terms first, second, etc., are used to distinguish oneelement from another.

What is claimed is:
 1. A method comprising: determining a performancetarget for a vehicle having plural wheels for driving along a road;comparing the performance target to an actual operating parameter of thevehicle; modifying an actual performance of the vehicle to achieve theperformance target; obtaining information from at least one prior haulcycle of the vehicle along the road based on learning the at least oneprior haul cycle of the vehicle; determining at least one parameter forat least one current haul based on the information from the at least oneprior haul cycle that is obtained; and controlling the vehicle duringthe at least one current haul cycle using the at least one parameter. 2.The method according to claim 1, wherein determining the performancetarget further comprises determining a wait time between at least twofunctions performed by the vehicle.
 3. The method according to claim 1,wherein determining the performance target further comprises determininga productivity rate of the vehicle.
 4. The method according to claim 1,wherein modifying the actual performance further comprises adjusting oneor more of horsepower or speed of the vehicle.
 5. The method accordingto claim 4, wherein adjusting the one or more of the horsepower or thespeed is performed automatically.
 6. The method according to claim 1,further comprising adjusting the actual performance of the vehicle tocompensate for at least one environmental condition.
 7. The methodaccording to claim 1, wherein determining the performance target isaccomplished by obtaining information from at least one other vehicleperforming a same or similar mission as the vehicle.
 8. The methodaccording to claim 1, wherein determining the performance target furthercomprises determining operating behavior of the vehicle.
 9. The methodaccording to claim 1, wherein determining the performance target furthercomprises determining statistical information of the vehicle.
 10. Themethod according to claim 1, wherein determining the performance targetfurther comprises comparing a position of the vehicle to at least oneother vehicle.
 11. The method according to claim 1, wherein determiningthe performance target further comprises determining environmentalconditions experienced by the vehicle.
 12. The method according to claim1, wherein determining the performance target further comprisesdetermining a degraded operating mode that the vehicle is experiencing.13. The method according to claim 1, wherein determining the performancetarget further comprises comparing at least one prior mission to acurrent mission of the vehicle.
 14. The method according to claim 1,wherein the performance target is a delay time between loading materialonto the vehicle and removing the material from the vehicle.
 15. Themethod according to claim 1, wherein the performance target isdetermined by comparing a braking duty cycle of the vehicle to ahistorical braking duty cycle.
 16. The method according to claim 1,wherein the information obtained from the at least one prior haul cycleof the vehicle is learned based on one or more of averaged or weighteddata of the vehicle during the at least one prior haul cycle.
 17. Themethod according to claim 1, wherein the information obtained from theat least one prior haul cycle of the vehicle is learned by determining achange in a surface grade and determining how the vehicle performed overthe change in the surface grade during the at least one prior haulcycle.
 18. The method according to claim 1, wherein one or more ofdetermining the performance target, comparing the performance target tothe actual operating parameter, modifying the actual performance of thevehicle, obtaining the information from the at least one prior haulcycle, determining the at least one parameter for the at least onecurrent haul cycle, or controlling the vehicle is performed with one ormore processors.
 19. The method according to claim 1, further comprisingdisplaying a result from modifying the actual performance of the vehicleon an interface of the vehicle.
 20. A method comprising: determining aperformance target for a vehicle having plural wheels for driving alonga road; comparing the performance target to an actual operatingparameter of the vehicle; modifying an actual performance of the vehicleto achieve the performance target; obtaining information from at leastone prior mission of the vehicle along the road based on learning the atleast one prior mission of the vehicle; determining at least oneparameter for at least one current mission based on the information fromthe at least one prior mission that is obtained; and controlling thevehicle during the at least one current mission using the at least oneparameter.